// --------------------------------------------------------------------------------------------------------------------
// <copyright file="TurretConfig.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Hardware.EV4.Runtime
{
    using System;
    using System.Collections.Generic;
    using System.Linq;
    using System.Runtime.Serialization;
    using System.Text;
    using System.Threading.Tasks;

    /// <summary>
    /// Turret configuration information.
    /// This is specific to each robot and acts on top of the default turret information found in EV4.config.xml which is applicable to all robots.
    /// </summary>
    [DataContract]
    public class TurretConfig
    {
        /// <summary>
        /// The serialized file name.
        /// </summary>
        public const string Filename = "TurretConfig.xml";

        /// <summary>
        /// Actual pan offset of the turret in radians when it is commanded to an offset of zero.
        /// </summary>        
        [DataMember(Name = "PanOffsetInRadians")]
        private double panOffsetInRadians;

        /// <summary>
        /// Actual tilt offset of the turret in radians when it is commanded to an offset of zero.
        /// </summary>
        [DataMember(Name = "TiltOffsetInRadians")]
        private double tiltOffsetInRadians;

        /// <summary>
        /// Initializes a new instance of the <see cref="TurretConfig"/> class.
        /// </summary>
        /// <param name="panOffsetInRadians">Actual pan offset of the turret in radians when it is commanded to an offset of zero.</param>
        /// <param name="tiltOffsetInRadians">Actual tilt offset of the turret in radians when it is commanded to an offset of zero.</param>
        public TurretConfig(double panOffsetInRadians, double tiltOffsetInRadians)
        {
            this.panOffsetInRadians = panOffsetInRadians;
            this.tiltOffsetInRadians = tiltOffsetInRadians;
        }

        /// <summary>
        /// Gets the PanOffsetInRadians.
        /// </summary>
        public double PanOffsetInRadians
        {
            get { return this.panOffsetInRadians; }
        }
        
        /// <summary>
        /// Gets the TiltOffsetInRadians.
        /// </summary>
        public double TiltOffsetInRadians
        {
            get { return this.tiltOffsetInRadians; }
        }
    }
}
